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Merge pull request #50 from Andrew-Luo1:main
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PiperOrigin-RevId: 627092131
Change-Id: I6b81b38ae98af2241b5f88e88209290e844f430a
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@copybara-github
copybara-github committed Apr 22, 2024
2 parents 3a992d7 + d369447 commit 8d283c9
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24 changes: 24 additions & 0 deletions anybotics_anymal_c/README.md
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Expand Up @@ -14,6 +14,11 @@ description](https://github.com/ANYbotics/anymal_c_simple_description).
<img src="anymal_c.png" width="400">
</p>

## Colab

* [MJX] Use first-order policy gradients to make the ANYmal C locomote
[![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/mjx/training_apg.ipynb)

## URDF → MJCF derivation steps

1. Converted the DAE [mesh
Expand All @@ -34,6 +39,25 @@ description](https://github.com/ANYbotics/anymal_c_simple_description).
11. Softened the contacts of the feet to approximate the effect of rubber.
12. Added `scene.xml` which includes the robot, with a textured groundplane, skybox, and haze.

### MJX

A version of the ANYmal C model for use in [MJX](https://mujoco.readthedocs.io/en/stable/mjx.html) is available in `scene_mjx.xml` with the following changes:

* The solver `iterations` and `ls_iterations` were modified for performance.
* `frictionloss` was removed.
* A custom `init_qpos` was added.
* The friction cone was changed from elliptic to pyramidal.
* All contacts other than the sphere geoms on the feet were turned off. Contact dimensionality was changed from 6 to 3.
* Pairwise contacts between feet were turned off to speed up simulation.
* The compiler option was changed to `<option iterations="1" solver="Newton"/>`, with `<flag eulerdamp="disable"/>`.
* Some decorative geoms were removed from the torso, to speed up rendering.

*Hint*: Call `mujoco.MjModel.from_xml_path` on `scene.xml` or `scene_mjx.xml`, not on the Anymal files!

## License

This model is released under a [BSD-3-Clause License](LICENSE).

## Acknowledgments

The MJX model of the ANYmal C was contributed by [Andrew Luo](https://github.com/Andrew-Luo1).
253 changes: 253 additions & 0 deletions anybotics_anymal_c/anymal_c_mjx.xml
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<mujoco model="anymal_c">
<compiler angle="radian" meshdir="assets" texturedir="assets" autolimits="true"/>

<option iterations="1" ls_iterations="4" solver="Newton" cone="pyramidal" impratio="100">
<flag eulerdamp="disable"/>
</option>

<default>
<material specular="0" shininess="0.25"/>
<default class="anymal_c">
<joint damping="1"/>
<default class="visual">
<geom type="mesh" contype="0" conaffinity="0" group="2"/>
<default class="visual_zflip">
<geom quat="0 0 0 1"/>
</default>
</default>
<default class="collision">
<geom group="3" type="capsule"/>
<default class="foot">
<geom type="sphere" size="0.03" pos="0 0 0.02325" priority="1" solimp="0.015 1 0.031" solref="0.02 1"
condim="3" friction="0.8 0.02 0.01"/>
</default>
</default>
<default class="affine">
<position kp="100" ctrlrange="-6.28 6.28" forcerange="-80 80"/>
</default>
</default>
</default>

<asset>
<material name="black_plastic" rgba="0.007 0.007 0.007 1"/>
<material name="green" rgba="0.052 0.178 0.033 1"/>
<material name="red" rgba="0.178 0.006 0.005 1"/>
<material name="yellow" rgba="0.178 0.119 0.006 1"/>
<material name="lwl" rgba="0.8 0.8 0.8 1"/>
<material name="base" texture="base"/>
<material name="top_shell" texture="top_shell"/>
<material name="bottom_shell" texture="bottom_shell"/>
<material name="hip_l" texture="hip_l"/>
<material name="thigh" texture="thigh"/>
<material name="shank_l" texture="shank_l"/>
<material name="foot" texture="foot"/>
<material name="hip_r" texture="hip_r"/>
<material name="shank" texture="shank_r"/>
<material name="hatch" texture="hatch"/>
<material name="remote" texture="remote"/>
<material name="handle" texture="handle"/>
<material name="face" texture="face"/>
<material name="depth_camera" texture="depth_camera"/>
<material name="wide_angle_camera" texture="wide_angle_camera"/>
<material name="battery" texture="battery"/>
<material name="lidar_cage" texture="lidar_cage"/>
<material name="lidar" texture="lidar"/>
<material name="drive" texture="drive"/>

<texture type="2d" name="base" file="base.png"/>
<texture type="2d" name="top_shell" file="top_shell.png"/>
<texture type="2d" name="bottom_shell" file="bottom_shell.png"/>
<texture type="2d" name="remote" file="remote.png"/>
<texture type="2d" name="hatch" file="hatch.png"/>
<texture type="2d" name="handle" file="handle.png"/>
<texture type="2d" name="face" file="face.png"/>
<texture type="2d" name="battery" file="battery.png"/>
<texture type="2d" name="lidar_cage" file="lidar_cage.png"/>
<texture type="2d" name="depth_camera" file="depth_camera.png"/>
<texture type="2d" name="wide_angle_camera" file="wide_angle_camera.png"/>
<texture type="2d" name="lidar" file="lidar.png"/>
<texture type="2d" name="drive" file="drive.png"/>
<texture type="2d" name="hip_l" file="hip_l.png"/>
<texture type="2d" name="shank_l" file="shank_l.png"/>
<texture type="2d" name="foot" file="foot.png"/>
<texture type="2d" name="thigh" file="thigh.png"/>
<texture type="2d" name="shank_r" file="shank_r.png"/>
<texture type="2d" name="hip_r" file="hip_r.png"/>

<mesh file="base_0.obj"/>
<mesh file="base_1.obj"/>
<mesh file="base_2.obj"/>
<mesh file="base_3.obj"/>
<mesh file="base_4.obj"/>
<mesh file="base_5.obj"/>
<mesh file="top_shell.obj"/>
<mesh file="bottom_shell.obj"/>
<mesh file="remote.obj"/>
<mesh file="handle.obj"/>
<mesh file="face.obj"/>
<mesh file="wide_angle_camera.obj"/>
<mesh file="depth_camera.obj"/>
<mesh file="battery.obj"/>
<mesh file="lidar_cage.obj"/>
<mesh file="lidar.obj"/>
<mesh file="drive.obj"/>
<mesh file="hip_l.obj"/>
<mesh file="thigh.obj"/>
<mesh file="shank_l.obj"/>
<mesh file="foot.obj"/>
<mesh file="hip_r.obj"/>
<mesh file="hatch.obj"/>
<mesh file="shank_r.obj"/>
</asset>

<worldbody>
<body name="base" pos="0 0 0.62" quat="0 0 0 1" childclass="anymal_c">
<camera name="track" pos="0 -2.5 0" xyaxes="1 0 0 0 1 5" mode="trackcom"/>
<freejoint/>
<inertial mass="19.2035" pos="0.0025 0 0.0502071" quat="0.5 0.5 0.5 0.5" diaginertia="0.639559 0.624031 0.217374"/>
<geom mesh="base_0" material="green" class="visual"/>
<geom mesh="base_1" material="yellow" class="visual"/>
<geom mesh="base_2" material="red" class="visual"/>
<geom mesh="base_3" material="black_plastic" class="visual"/>
<geom mesh="base_4" material="lwl" class="visual"/>
<geom mesh="base_5" material="base" class="visual"/>
<geom material="top_shell" mesh="top_shell" class="visual"/>
<geom material="bottom_shell" mesh="bottom_shell" class="visual"/>
<geom material="remote" mesh="remote" class="visual"/>
<geom material="handle" mesh="handle" class="visual"/>
<geom pos="0.4145 0 0" material="face" mesh="face" class="visual"/>
<geom pos="-0.4145 0 0" material="face" mesh="face" class="visual_zflip"/>
<geom material="battery" mesh="battery" class="visual"/>
<geom pos="0.116 0 0.073" material="hatch" mesh="hatch" class="visual"/>
<body name="LF_HIP" pos="0.2999 0.104 0" quat="0.258819 0.965926 0 0">
<inertial mass="2.781" pos="0.0566606 -0.015294 -0.00829784" quat="-0.127978 0.709783 -0.135278 0.679359"
diaginertia="0.00585729 0.00491868 0.00329081"/>
<joint name="LF_HAA" axis="1 0 0" range="-0.72 0.49"/>
<geom quat="0.258819 -0.965926 0 0" material="hip_l" mesh="hip_l" class="visual"/>
<geom pos="0.0599 -0.0725816 -0.041905" quat="0.183013 -0.683013 0.683013 0.183013" material="drive"
mesh="drive" class="visual"/>
<body name="LF_THIGH" pos="0.0599 -0.0725816 -0.041905" quat="0.183013 -0.683013 0.683013 0.183013">
<inertial mass="3.071" pos="0.0308147 4.64995e-05 -0.245696" quat="0.993166 -0.00515309 -0.0806592 0.0841972"
diaginertia="0.03025 0.0298943 0.00418465"/>
<joint name="LF_HFE" axis="1 0 0" range="-9.42478 9.42478"/>
<geom quat="1 0 0 -1" material="thigh" mesh="thigh" class="visual"/>
<geom pos="0.1003 0 -0.285" material="drive" mesh="drive" class="visual"/>
<body name="LF_SHANK" pos="0.1003 0 -0.285">
<inertial mass="0.58842" pos="0.005462 -0.0612528 -0.0806598"
quat="0.992934 -0.115904 -0.00105487 -0.0254421" diaginertia="0.0101637 0.00923838 0.00111927"/>
<joint name="LF_KFE" axis="1 0 0" range="-9.42478 9.42478"/>
<geom quat="1 0 0 -1" material="shank_l" mesh="shank_l" class="visual"/>
<geom pos="0.01305 -0.08795 -0.33797" quat="0.382683 0 0 -0.92388" material="foot" mesh="foot"
class="visual"/>
<geom class="foot" pos="0.01305 -0.08795 -0.31547"/>
</body>
</body>
</body>
<body name="RF_HIP" pos="0.2999 -0.104 0" quat="0.258819 -0.965926 0 0">
<inertial mass="2.781" pos="0.0567633 0.015294 -0.00829784" quat="0.13524 0.679072 0.127985 0.710065"
diaginertia="0.00585928 0.0049205 0.00329064"/>
<joint name="RF_HAA" axis="1 0 0" range="-0.49 0.72"/>
<geom quat="0.258819 0.965926 0 0" material="hip_r" mesh="hip_r" class="visual"/>
<geom pos="0.0599 0.0725816 -0.041905" quat="0.183013 0.683013 0.683013 -0.183013" material="drive" mesh="drive"
class="visual"/>
<body name="RF_THIGH" pos="0.0599 0.0725816 -0.041905" quat="0.183013 0.683013 0.683013 -0.183013">
<inertial mass="3.071" pos="0.0308147 4.64995e-05 -0.245696" quat="0.992775 -0.00512735 -0.0806685 0.0886811"
diaginertia="0.0302511 0.0298933 0.0041845"/>
<joint name="RF_HFE" axis="-1 0 0" range="-9.42478 9.42478"/>
<geom quat="1 0 0 -1" material="thigh" mesh="thigh" class="visual"/>
<geom pos="0.1003 0 -0.285" material="drive" mesh="drive" class="visual"/>
<body name="RF_SHANK" pos="0.1003 0 -0.285">
<inertial mass="0.58842" pos="0.005462 0.0612528 -0.0806598" quat="0.992934 0.115904 -0.00105487 0.0254421"
diaginertia="0.0101637 0.00923838 0.00111927"/>
<joint name="RF_KFE" axis="-1 0 0" range="-9.42478 9.42478"/>
<geom quat="1 0 0 1" material="shank" mesh="shank_r" class="visual"/>
<geom pos="0.01305 0.08795 -0.33797" quat="0.382683 0 0 0.92388" material="foot" mesh="foot" class="visual"/>
<geom class="foot" pos="0.01305 0.08795 -0.31547"/>
</body>
</body>
</body>
<body name="LH_HIP" pos="-0.2999 0.104 0" quat="0 0 0.965926 -0.258819">
<inertial mass="2.781" pos="0.0567633 0.015294 -0.00829784" quat="0.13524 0.679072 0.127985 0.710065"
diaginertia="0.00585928 0.0049205 0.00329064"/>
<joint name="LH_HAA" axis="-1 0 0" range="-0.72 0.49"/>
<geom quat="-0.258819 -0.965926 0 0" material="hip_r" mesh="hip_r" class="visual"/>
<geom pos="0.0599 0.0725816 -0.041905" quat="0.183013 0.683013 0.683013 -0.183013" material="drive" mesh="drive"
class="visual"/>
<body name="LH_THIGH" pos="0.0599 0.0725816 -0.041905" quat="0.183013 0.683013 0.683013 -0.183013">
<inertial mass="3.071" pos="0.0308147 4.64995e-05 -0.245696" quat="0.992775 -0.00512735 -0.0806685 0.0886811"
diaginertia="0.0302511 0.0298933 0.0041845"/>
<joint name="LH_HFE" axis="1 0 0" range="-9.42478 9.42478"/>
<geom quat="1 0 0 -1" material="thigh" mesh="thigh" class="visual"/>
<geom pos="0.1003 0 -0.285" material="drive" mesh="drive" class="visual"/>
<body name="LH_SHANK" pos="0.1003 0 -0.285">
<inertial mass="0.58842" pos="0.005462 0.0612528 -0.0806598" quat="0.992934 0.115904 -0.00105487 0.0254421"
diaginertia="0.0101637 0.00923838 0.00111927"/>
<joint name="LH_KFE" axis="1 0 0" range="-9.42478 9.42478"/>
<geom quat="-1 0 0 -1" material="shank" mesh="shank_r" class="visual"/>
<geom pos="0.01305 0.08795 -0.33797" quat="-0.382683 0 0 -0.92388" material="foot" mesh="foot"
class="visual"/>
<geom class="foot" pos="0.01305 0.08795 -0.31547"/>
</body>
</body>
</body>
<body name="RH_HIP" pos="-0.2999 -0.104 0" quat="0 0 -0.965926 -0.258819">
<inertial mass="2.781" pos="0.0566606 -0.015294 -0.00829784" quat="-0.127978 0.709783 -0.135278 0.679359"
diaginertia="0.00585729 0.00491868 0.00329081"/>
<joint name="RH_HAA" axis="-1 0 0" range="-0.49 0.72"/>
<geom quat="-0.258819 0.965926 0 0" material="hip_l" mesh="hip_l" class="visual"/>
<geom pos="0.0599 -0.0725816 -0.041905" quat="-0.183013 0.683013 -0.683013 -0.183013" material="drive"
mesh="drive" class="visual"/>
<body name="RH_THIGH" pos="0.0599 -0.0725816 -0.041905" quat="-0.183013 0.683013 -0.683013 -0.183013">
<inertial mass="3.071" pos="0.0308147 4.64995e-05 -0.245696" quat="0.993166 -0.00515309 -0.0806592 0.0841972"
diaginertia="0.03025 0.0298943 0.00418465"/>
<joint name="RH_HFE" axis="-1 0 0" range="-9.42478 9.42478"/>
<geom quat="1 0 0 -1" material="thigh" mesh="thigh" class="visual"/>
<geom pos="0.1003 0 -0.285" material="drive" mesh="drive" class="visual"/>
<body name="RH_SHANK" pos="0.1003 0 -0.285">
<inertial mass="0.58842" pos="0.005462 -0.0612528 -0.0806598"
quat="0.992934 -0.115904 -0.00105487 -0.0254421" diaginertia="0.0101637 0.00923838 0.00111927"/>
<joint name="RH_KFE" axis="-1 0 0" range="-9.42478 9.42478"/>
<geom quat="1 0 0 -1" material="shank_l" mesh="shank_l" class="visual"/>
<geom pos="0.01305 -0.08795 -0.33797" quat="0.382683 0 0 -0.92388" material="foot" mesh="foot"
class="visual"/>
<geom class="foot" pos="0.01305 -0.08795 -0.31547"/>
</body>
</body>
</body>
</body>
</worldbody>

<contact>
<exclude body1="base" body2="LF_THIGH"/>
<exclude body1="base" body2="RF_THIGH"/>
<exclude body1="base" body2="LH_THIGH"/>
<exclude body1="base" body2="RH_THIGH"/>
<exclude body1="LF_SHANK" body2="RF_SHANK"/>
<exclude body1="LF_SHANK" body2="LH_SHANK"/>
<exclude body1="RH_SHANK" body2="RF_SHANK"/>
<exclude body1="RH_SHANK" body2="LF_SHANK"/>
<exclude body1="LH_SHANK" body2="RF_SHANK"/>
<exclude body1="LH_SHANK" body2="RH_SHANK"/>
</contact>

<actuator>
<position class="affine" joint="LF_HAA" name="LF_HAA"/>
<position class="affine" joint="LF_HFE" name="LF_HFE"/>
<position class="affine" joint="LF_KFE" name="LF_KFE"/>
<position class="affine" joint="RF_HAA" name="RF_HAA"/>
<position class="affine" joint="RF_HFE" name="RF_HFE"/>
<position class="affine" joint="RF_KFE" name="RF_KFE"/>
<position class="affine" joint="LH_HAA" name="LH_HAA"/>
<position class="affine" joint="LH_HFE" name="LH_HFE"/>
<position class="affine" joint="LH_KFE" name="LH_KFE"/>
<position class="affine" joint="RH_HAA" name="RH_HAA"/>
<position class="affine" joint="RH_HFE" name="RH_HFE"/>
<position class="affine" joint="RH_KFE" name="RH_KFE"/>
</actuator>

<!-- A higher standing position -->
<keyframe>
<key name="standing"
qpos="0.0 0.0 0.56 1.0 0.0 0.0 0.0 0.0 0.5235987755982988 -0.7853981 0.0 0.5235987755982988 -0.7853981 0.0 -0.5235987755982988 0.7853981 0.0 -0.5235987755982988 0.7853981"/>
</keyframe>
</mujoco>
23 changes: 23 additions & 0 deletions anybotics_anymal_c/scene_mjx.xml
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<mujoco model="anymal_c scene">
<include file="anymal_c_mjx.xml"/>

<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
<rgba haze="0.15 0.25 0.35 1"/>
<global azimuth="120" elevation="-20"/>
</visual>

<statistic center="0 0 .3" extent="1.2"/>

<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
markrgb="0.8 0.8 0.8" width="300" height="300"/>
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
</asset>

<worldbody>
<light pos="0 0 1.5" dir="0 0 -1" directional="true"/>
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
</worldbody>
</mujoco>

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